EP2767794B1 - Projektil mit Steuerflächen sowie Verfahren zur Steuerung der Steuerflächen eines solchen Projektils - Google Patents

Projektil mit Steuerflächen sowie Verfahren zur Steuerung der Steuerflächen eines solchen Projektils Download PDF

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Publication number
EP2767794B1
EP2767794B1 EP14155480.8A EP14155480A EP2767794B1 EP 2767794 B1 EP2767794 B1 EP 2767794B1 EP 14155480 A EP14155480 A EP 14155480A EP 2767794 B1 EP2767794 B1 EP 2767794B1
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EP
European Patent Office
Prior art keywords
projectile
control surfaces
spherical shape
housing
rotation
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EP14155480.8A
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English (en)
French (fr)
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EP2767794A1 (de
Inventor
Richard Roy
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Nexter Munitions SA
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Nexter Munitions SA
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/60—Steering arrangements
    • F42B10/62—Steering by movement of flight surfaces
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/60—Steering arrangements
    • F42B10/62—Steering by movement of flight surfaces
    • F42B10/64—Steering by movement of flight surfaces of fins

Definitions

  • the technical field of the invention is that of the projectiles guided by steerable steerings in incidence.
  • US 2008/006736 A1 discloses a projectile steerable steerable bearing having at least two control surfaces each pivotable relative to the projectile about a pivot axis perpendicular to the longitudinal axis of the projectile.
  • This type of device requires knowing the exact angular position both incidence and roll of each rudder to make it adopt the appropriate position to follow the desired trajectory to the projectile.
  • the projectile being subjected to a roll that can be very important, especially if it is fired from a rifled gun, it is therefore necessary to make continual corrections of the incidence of the control surfaces.
  • the invention proposes to solve the problem of complexity of controlling the incidence of the control surfaces as a function of their angular position around the projectile.
  • the invention also makes it possible to reduce the numerous and brutal loads of the motors.
  • the invention also makes it possible to reduce the number of parts and to simplify the mechanical structure of the control device of the control surfaces.
  • a projectile 103 in flight has a substantially cylindrical body 100.
  • This projectile 103 comprises in the rear part a stabilizer itself comprising fixed-effect fins 102 intended to stabilize the projectile 103 along its pitch axes Y and yaw Z.
  • the projectile is driven in a rotational movement R about its axis. longitudinal said axis of roll X.
  • an orientation device 105 having control surfaces 2 integral with the projectile 103 and each able to pivot on a steering axis 7 perpendicular to the roll axis X so as to modify their incidence and by way of Consequently, the projectile 103 is adopted with a desired trajectory. Since the control surfaces 2 are integral with the projectile 103, they are also driven by the same rotational movement R around the roll axis X as the projectile 103.
  • a warhead 104 housing a steering device 1 for orienting the incidence of the control surfaces. 2 of the projectile 103 in response to a guide law programmed in a homing device (not shown).
  • control surfaces 2 are shown here in their deployed position and are four in number.
  • the skilled person may choose to equip the projectile with at least two or more rudders, in even or odd quantities, and regularly distributed angularly around the projectile.
  • Each rudder 2 comprises a steering plane 2a whose base is integral with a first end of a steering foot 2b pivotally mounted in a cylindrical and radial bore 100a of the projectile body 100.
  • Each steering plane 2a is intended to influence by its pivoting about the axis 7 the aerodynamic supports of the projectile 103 to change its trajectory.
  • Each bore 100a of the projectile body 100 opens radially into a central housing 10 of the projectile body 100.
  • This central housing 10 is a cylindrical housing which receives a central control means 5 which has at least one spherical shape whose center 0 is located on the longitudinal axis X of the projectile 103 and on the pivot axes 7 of the control surfaces 2 (the spherical shape or sphere 5 will be better seen at the figure 3 ).
  • the central control means 5 is thus a sphere 5 having grooves 8 which are oriented along meridians of the sphere which meet at the poles 6a and 6b of the sphere 5. There are as many grooves 8 that there are governes 2.
  • One of the poles 8a of the sphere carries a control arm 11 protruding from the sphere 5.
  • the two poles 6a and 6b of the sphere 5 located at each end of the grooves 8 are also positioned on the longitudinal axis X.
  • the control arm 11 is then positioned on this axis X and the grooves are therefore arranged parallel to the longitudinal axis X of the projectile when the control surfaces 2 are themselves parallel to the longitudinal axis X of the projectile.
  • the transmission member 20 comprises on a first face 20a facing the sphere 5 a first preferably prismatic profile 21 corresponding to the groove 8. This first profile 21 is able to slide in the groove 8.
  • the transmission member 20 comprises a second face 20b parallel to the first face 20a.
  • the second face 20b of the transmission member 20 comprises a second profile 22 intended to slide in a corresponding slot 23 carried by the steering foot 2b.
  • the profiles 21 and 22 have the form of tabs.
  • the two tabs 21 and 22 being orthogonal to each other and integral with a cylindrical portion of the member 20.
  • the transmission member 20 is substantially cylindrical and chosen to have a diameter D1 slightly smaller than the diameter D2 of the steering foot 2b so that it can translate in a plane P normal to the axis of rotation 7 of the rudder 2 without interfering with the cylindrical wall of the bore 100a which contains it.
  • the transmission member 20 thus connected with the sphere 5 and the steering foot 2b behaves in the manner of a seal called Oldham. It makes it possible to reduce the friction at the level of the connections and makes it possible to overcome the relative misalignments between the axis of rotation 7 of the fin and the instantaneous pivot axis of the sphere 5 which evolves at each moment of the piloting.
  • the fin receives from the sphere 5 only the mechanical torque ensuring pivoting about the axis 7 of the rudder 2.
  • a first pair of control surfaces 2 has its pivot axis 7 contained in the plane K, while the second pair of control surfaces 2a has its pivot axis 7bis collinear with the pitch axis Y.
  • the transmission member 20a For each rudder of the second pair 2a, the transmission member 20a then communicates a pivoting torque to the control surfaces 2a via its first and second profiles (not visible in these figures) which respectively correspond with the groove 8a of the sphere 5 and the steering foot 2b bis, thus making ⁇ affect the control surfaces 2bis.
  • each transmission member 20 associated with the control surfaces 2 without incidence can transmit force but lets slip the groove 8 associated with it without transmitting pivoting to the control surfaces 2 which then remain in the plane K at zero incidence.
  • control surfaces 2 regardless of the angular position of the control surfaces 2 about the longitudinal axis X, the control surfaces 2 always adopt the appropriate incidence to orient the projectile towards the direction D which is given by the positioning of the end 11a of the arm 11 (ie down in the example selected).
  • the projectile comprises a positioning means 12 having a substantially circular housing 13 and a rack 14 visible to the figure 9 .
  • the rack 14 has a toothed portion 14a which is integral with a plate 14b which is housed in a slideway 15 of the housing 13 (see FIGS. figures 2 and 10 ).
  • the rack 14 can thus translate in a direction parallel to the diameter of the housing 13.
  • the housing 13 is coaxial with the longitudinal axis X of the projectile and has an oblong hole 16 oriented parallel to the slideway 15 and allowing the arm 11 to pass so that the free end 11a of the arm 11 can cooperate with a hole 24 carried by the plate 14b of the rack 14 (see figures 2 and 10 ).
  • the end 11a of the arm is spherical and the connection between this end and the hole 24 of the rack 14 forms a ball joint.
  • the rack 14 is intended to mesh with a pinion 18 of a first motor M1 (pinion visible at figures 2 , 9 and 11 , motor M1 visible at the figure 11 ) aligned with the longitudinal axis X of the projectile 103 in order to be able to control the translation of the rack 14 into the housing 13.
  • a first motor M1 pinion visible at figures 2 , 9 and 11 , motor M1 visible at the figure 11
  • the housing 13 has on its periphery a ring gear C2 intended to mesh with a second motor M2 (ring gear C2 and M2 motor visible to figures 10 and 11 ).
  • the positioning means 12 makes it possible to orient the projectile 103 towards a given direction D transverse to the projectile 103.
  • the engines must rotate synchronously at an angular speed - ⁇ in the opposite direction projectile 103 to compensate for the rotation of the latter animated with a speed ⁇ .
  • the engines will have to phase out.
  • the second motor M2 will rotate at a speed - ⁇ ⁇ ⁇ 2 to rotate the housing 13 by an angle ⁇ relative to the absolute reference RA while the motor M1 will always turn to the speed - ⁇ .
  • This phase shift will be maintained until the slideway 15 is parallel to the direction D chosen for the desired correction, and this always compensating for the rotation of the projectile.
  • the next step is to slide the rack 14 in the given direction D by rotation of the first motor M1 at a speed - ⁇ ⁇ ⁇ 1.
  • the second motor M2 always turning at the speed - ⁇ .
  • the translation of the rack 14 causes the eccentricity E between the end 11a of the arm 11 and the longitudinal axis X thus giving the desired correction amplitude.
  • the amplitude being determined by the control law of the orientation of the projectile.
  • the invention therefore makes it possible to obtain a controllable projectile comprising a simple and reliable control surface control device and where the problems of electromagnetic solicitations are greatly reduced owing to the regular activity of the engines which are not subject to brutal and incessant peaks of intensity.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Toys (AREA)

Claims (4)

  1. Projektil (103) mit Steuerflächen (2), deren Anstellwinkel ausrichtbar ist, das mindestens zwei Steuerflächen (2) aufweist, die jeweils bezogen auf das Projektil (103) um eine Schwenkachse (7) senkrecht zur Längsachse (X) des Projektils (103) schwenken können, wobei das Projektil, dadurch gekennzeichnet ist, dass es Folgendes aufweist:
    - ein mittleres Steuermittel (5) für die Steuerflächen (2), das mindestens eine Kugelform (5) aufweist, deren Mitte (O) sich auf der Längsachse (X) befindet, wobei die Kugelform in einer Aufnahme (10) des Projektils angeordnet ist,
    - einen Steuerarm (11), der fest mit der Kugelform (5) verbunden und in der Lage ist, die Kugelform (5) zumindest um die Nick- (Y) und Gierachse (Z) des Projektils (103) zu drehen, die durch die Mitte (O) der Kugelform (5) verlaufen,
    - für jede Steuerfläche (2) ein Übertragungsglied (20), das mit der Kugelform (5) über eine erste Seite (20a) und mit einem Steuerflächenfuß (2b) über eine zweite Seite (20b) zusammenarbeitet, wobei das Übertragungsglied (20) dazu bestimmt ist, die Drehbewegungen der Kugelform (5) um die Schwenkachse (7) der Steuerfläche herum auf die Steuerfläche zu übertragen,
    - ein Positionierungsmittel (12) für den Arm, das in der Lage ist, ein Ende des Arms (11) in einer bestimmten Position bezogen auf einen absoluten Bezugspunkt (RA) zu positionieren, der auf die Längsachse (X) des Projektils zentriert ist;
    wobei die Kugelform (5) für jede Steuerfläche (2) eine Nut (8) aufweist, die entlang einer Meridianlinie der Kugelform (5) ausgerichtet ist und von dem Steuerarm (11) aus verläuft, wobei die Nuten parallel zur Längsachse (X) des Projektils angeordnet sind, wenn die Steuerflächen (2) selbst parallel zur Längsachse (X) des Projektils verlaufen, wobei jede Nut (8) mit der ersten Seite (20a) des Übertragungsglieds über ein erstes Profil (21) des Übertragungsglieds (20) zusammenwirkt, das der Nut (8) entspricht, wobei das erste Profil (21) in der Lage ist, in der Nut (8) entlangzugleiten.
  2. Projektil (103) mit Steuerflächen (2), deren Anstellwinkel ausrichtbar ist, nach Anspruch 1, dadurch gekennzeichnet, dass die zweite Seite (20b) des Übertragungsglieds (20) ein zweites Profil (22) orthogonal zum ersten Profil (21) aufweist, wobei das zweite Profil (22) mit einem Schlitz (23) zusammenwirkt, der von dem Steuerflächenfuß (2b) getragen wird, wobei das zweite Profil (22) in der Lage ist, in dem Schlitz (23) entlangzugleiten.
  3. Projektil (103) mit Steuerflächen (2), deren Anstellwinkel ausrichtbar ist, nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Positionierungsmittel (12) ein Gehäuse (13) koaxial zum Projektil (103) aufweist, wobei das Gehäuse (13) eine Zahnstange umgibt, die fest mit dem Ende des Arms (11) über ein Kugelgelenk verbunden ist, wobei die Zahnstange darüber hinaus in einer Gleitführung (15) des Gehäuses (13) entlanggleiten kann, die parallel zu einem Durchmesser des Gehäuses (13) ausgerichtet ist, wobei ein erster Motor (M1) mit der Zahnstange (14) in Eingriff steht, damit sie in ihrer Gleitführung (15) bewegt wird, und wobei das Gehäuse (13) von einem Kranz umgeben ist, der mit einem zweiten Motor (M2) in Eingriff steht, der die Gleitführung (15) winklig ausrichten soll.
  4. Verfahren zum Steuern der Steuerflächen (2) eines Projektils (103) nach Anspruch 3, das dazu bestimmt ist, das Projektil (103) in einer gegebenen Richtung (D) quer zum Projektil (103) auszurichten, wobei das Verfahren dadurch gekennzeichnet ist, dass es hintereinander folgende Schritte umfasst:
    - Bewirken, dass sich der erste und zweite Motor (M1, M2) synchron und in umgekehrter Richtung zu der Rollbewegung des Projektils drehen, damit die Drehung des Projektils (103) ausgeglichen wird,
    - Bewirken, dass das Gehäuse (12) um einen Winkel Φ schwenkt, mittels Phasenregelung der Drehung des zweiten Motors (M2) bezogen auf die Drehzahl des ersten Motors (M1), sodass die Gleitführung (15) parallel zur gegebenen Richtung D verläuft, wobei gleichzeitig die Drehung des Projektils ausgeglichen wird, indem die Drehung des ersten Motors (M1) in umgekehrter Richtung zur Rollbewegung des Projektils beibehalten wird,
    - erneutes Synchronisieren des ersten und zweiten Motors (M1, M2) zum Ausgleichen der Drehung des Projektils (103),
    - Bewirken, dass die Gleitführung (14) in der gegebenen Richtung D gleitet, mittels Phasenregelung der Drehung des ersten Motors (M1) bezogen auf die Drehzahl des zweiten Motors (M2), der weiterhin in umgekehrter Richtung zur Rollbewegung des Projektils gedreht wird, bis die Exzentrizität E zwischen dem Ende des Arms (11) und der Längsachse (X) die gewünschte Korrekturamplitude liefert.
EP14155480.8A 2013-02-18 2014-02-17 Projektil mit Steuerflächen sowie Verfahren zur Steuerung der Steuerflächen eines solchen Projektils Active EP2767794B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1300370A FR3002319B1 (fr) 2013-02-18 2013-02-18 Projectile a gouvernes orientables et procede de commande des gouvernes d'un tel projectile

Publications (2)

Publication Number Publication Date
EP2767794A1 EP2767794A1 (de) 2014-08-20
EP2767794B1 true EP2767794B1 (de) 2015-07-15

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US (1) US9163915B2 (de)
EP (1) EP2767794B1 (de)
FR (1) FR3002319B1 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3041744B1 (fr) * 2015-09-29 2018-08-17 Nexter Munitions Projectile d'artillerie ayant une phase pilotee.
FR3078152B1 (fr) * 2018-02-22 2021-11-05 Nexter Munitions Projectile a gouvernes orientables
FR3080912B1 (fr) 2018-05-02 2020-04-03 Nexter Munitions Projectile propulse par statoreacteur
JP7465531B2 (ja) 2020-07-17 2024-04-11 国立研究開発法人宇宙航空研究開発機構 ロケット制御システム、及びロケットの着陸動作の制御方法
US11650033B2 (en) * 2020-12-04 2023-05-16 Bae Systems Information And Electronic Systems Integration Inc. Control plate-based control actuation system

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4210298A (en) * 1978-08-01 1980-07-01 The United States Of America As Represented By The Secretary Of The Army Electro-mechanical guidance actuator for a missile
US4738412A (en) * 1987-08-24 1988-04-19 The United States Of America As Represented By The Secretary Of The Navy Air stabilized gimbal platform
US7246539B2 (en) * 2005-01-12 2007-07-24 Lockheed Martin Corporation Apparatus for actuating a control surface
US20080006736A1 (en) * 2006-07-07 2008-01-10 Banks Johnny E Two-axis trajectory control system

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EP2767794A1 (de) 2014-08-20
FR3002319A1 (fr) 2014-08-22
FR3002319B1 (fr) 2015-02-27
US9163915B2 (en) 2015-10-20
US20140231577A1 (en) 2014-08-21

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